基于改进A~*算法的航迹规划设计研究  

Route Planning and Design Research Based on Improved A~* Algorithm

作　　者：郑煜坤 王瑛[1] 吕茂隆 李正欣[1] ZHENG Yu-kun;WANG Ying;LYU Mao-long;LI Zheng-xin(School of Equipment Management and Safety Engineering,Air Force Engineering University,Xi’an 710051,China)

机构地区：[1]空军工程大学装备管理与安全工程学院,西安710051

出　　处：《火力与指挥控制》2018年第9期125-129,共5页Fire Control & Command Control

基　　金：国家自然科学基金资助项目(61502521)

摘　　要：针对传统A~*算法得出最优航迹为"折线航迹",增大了转弯处的航程和飞行时间,难以满足实际飞机飞行安全性需求,提出了一种基于"追踪"思想的改进A~*算法。该算法利用追踪模型的微分方程对航迹进行求解,得出较初始"折线航迹"距离更短的"曲线航迹",精确规划出最优路线,且能快速解决障碍规避问题。最后,以北京到成都、西安到上海等7条航线的航班为仿真算例,充分验证了所提算法的有效性。According to the curve route concluded by traditional A*algorithm,which improves the voyage in turning point and increases the flight time,so it's hard to meet the need of aircraft flight safety,and this paper comes up with an improved A*algorithm based on the thought of tracking.It introduces the differential equation of tracking model to route calculation and acquire the shorter curve route compared with the initial broken route,it also plan out the optimal track precisely while solves the problem of obstacle avoidance rapidly.Finally take the route from Chengdu to Beijing,Xi'an to Shanghai and other five routes as simulation instances to verify the effectiveness of this algorithm.

关 键 词：航迹规划 改进A*算法 追踪模型 折线航迹 曲线航迹 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]